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Add rmw_zenoh_cpp and de-vendor zenoh_cpp_vendor #253

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merged 2 commits into from
Jan 23, 2025
Merged

Add rmw_zenoh_cpp and de-vendor zenoh_cpp_vendor #253

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182dda0
Create ros-humble-zenoh-cpp-vendor.patch
traversaro Jan 22, 2025
1c18078
Add rmw_zenoh_cpp and de-vendor zenoh_cpp_vendor
traversaro Jan 22, 2025
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5 changes: 5 additions & 0 deletions conda_build_config.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,3 +41,8 @@ cxx_compiler:
cxx_compiler_version: # [unix]
- 13 # [linux]
- 18 # [osx]

libzenohc:
- 1.1.1
libzenohcxx:
- 1.1.1
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@wep21 wep21 Jan 22, 2025 •
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❯ pixi search "libzenohcxx"
Using channels: https://repo.prefix.dev/conda-forge/

libzenohcxx-1.0.4-h286801f_0
----------------------------

Name                libzenohcxx        
Version             1.0.4
Build               h286801f_0         
Size                54186              
License             Apache-2.0 OR EPL-2.0
Subdir              osx-arm64          
File Name           libzenohcxx-1.0.4-h286801f_0.conda
URL                 https://repo.prefix.dev/conda-forge/osx-arm64/libzenohcxx-1.0.4-h286801f_0.conda
MD5                 c77db6386d27a017defa2e912b10ad1d
SHA256              f67c131135586752e40894b63cc163bfa10bccf2b8925cf02f33b4adc5e73570

Dependencies:
 - __osx >=11.0
 - libcxx >=18
 - libzenohc >=1.0.4,<1.0.5.0a0

Other Versions (3):
Version  Build      
1.0.2    h286801f_0 
1.0.1    h286801f_0 
1.0.0    h5833ebf_0

Is the latest version 1.0.4?

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I merged conda-forge/zenoh-cpp-feedstock#20 some minutes ago, we need some time for metadata propagation I guess.

6 changes: 5 additions & 1 deletion patch/dependencies.yaml
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Expand Up @@ -179,4 +179,8 @@ rosx_introspection:
octomap_ros:
add_host: ["octomap"]
octomap_rviz_plugins:
add_host: ["octomap"]
add_host: ["octomap"]
zenoh_cpp_vendor:
add_host: ["libzenohc", "libzenohcxx"]
rmw_zenoh_cpp:
add_host: ["libzenohc", "libzenohcxx"]
42 changes: 42 additions & 0 deletions patch/ros-humble-zenoh-cpp-vendor.patch
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@@ -0,0 +1,42 @@
diff --git a/zenoh_cpp_vendor/CMakeLists.txt b/zenoh_cpp_vendor/CMakeLists.txt
index 2d3ae046..de971841 100644
--- a/zenoh_cpp_vendor/CMakeLists.txt
+++ b/zenoh_cpp_vendor/CMakeLists.txt
@@ -10,35 +10,10 @@ endif()
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_vendor_package REQUIRED)

-# Disable default features and enable only the most useful ones. This reduces build time and footprint.
-# For a complete list of features see: https://github.com/eclipse-zenoh/zenoh/blob/main/zenoh/Cargo.toml
-# Note: We separate the two args needed for cargo with "$<SEMICOLON>" and not ";" as the
-# latter is a list separater in cmake and hence the string will be split into two
-# when expanded.
-set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
-
-ament_vendor(zenoh_c_vendor
- VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
- VCS_VERSION 57d5e4d31d9b38fef34d7bcad3d3e54869c4ce73
- CMAKE_ARGS
- "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
- "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
- "-DZENOHC_CUSTOM_TARGET=${ZENOHC_CUSTOM_TARGET}"
-)
-
+find_package(zenohc REQUIRED)
ament_export_dependencies(zenohc)

-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
-# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
-ament_vendor(zenoh_cpp_vendor
- VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
- VCS_VERSION 964b64dc8b935a43147287199e7bb12da7b141e6
- CMAKE_ARGS
- -DZENOHCXX_ZENOHC=OFF
-)
-
-externalproject_add_stepdependencies(zenoh_cpp_vendor configure zenoh_c_vendor)
-
+find_package(zenohcxx REQUIRED)
ament_export_dependencies(zenohcxx)

ament_package()
2 changes: 2 additions & 0 deletions robostack.yaml
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Expand Up @@ -43,6 +43,8 @@ cartographer:
robostack: [cartographer]
ca-certificates:
robostack: [ca-certificates]
cargo:
robostack: [rust]
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clang-format:
robostack: [clang-format]
clang-tidy:
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3 changes: 3 additions & 0 deletions vinca_linux_64.yaml
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Expand Up @@ -181,6 +181,9 @@ packages_select_by_deps:
# requested in https://github.com/RoboStack/ros-humble/issues/249
- twist_mux

# requested in https://github.com/RoboStack/ros-humble/issues/252
- rmw_zenoh_cpp

# ----- end of package support -----

# - rtabmap
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3 changes: 3 additions & 0 deletions vinca_linux_aarch64.yaml
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Expand Up @@ -110,6 +110,9 @@ packages_select_by_deps:
# requested in https://github.com/RoboStack/ros-humble/issues/249
- twist_mux

# requested in https://github.com/RoboStack/ros-humble/issues/252
- rmw_zenoh_cpp

# Used to work, now needs fixes
# - rtabmap
# - webots-ros2
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3 changes: 3 additions & 0 deletions vinca_osx.yaml
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Expand Up @@ -132,5 +132,8 @@ packages_select_by_deps:
# requested in https://github.com/RoboStack/ros-humble/issues/249
- twist_mux

# requested in https://github.com/RoboStack/ros-humble/issues/252
- rmw_zenoh_cpp

patch_dir: patch
rosdistro_snapshot: rosdistro_snapshot.yaml
3 changes: 3 additions & 0 deletions vinca_osx_arm64.yaml
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Expand Up @@ -122,5 +122,8 @@ packages_select_by_deps:
# requested in https://github.com/RoboStack/ros-humble/issues/249
- twist_mux

# requested in https://github.com/RoboStack/ros-humble/issues/252
- rmw_zenoh_cpp

patch_dir: patch
rosdistro_snapshot: rosdistro_snapshot.yaml
3 changes: 3 additions & 0 deletions vinca_win.yaml
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Expand Up @@ -246,5 +246,8 @@ packages_select_by_deps:
# requested in https://github.com/RoboStack/ros-humble/issues/249
- twist_mux

# requested in https://github.com/RoboStack/ros-humble/issues/252
- rmw_zenoh_cpp

patch_dir: patch
rosdistro_snapshot: rosdistro_snapshot.yaml
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